Systems and methods for acquiring and moving objects

ABSTRACT

An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.

PRIORITY

The present application is a continuation of U.S. patent applicationSer. No. 14/390,634, filed Apr. 22, 2019; which is a continuation ofSer. No. 15/992,841, filed May 30, 2018, now U.S. Pat. No. 10,335,956,issued Jul. 2, 2019; which is a continuation of U.S. patent applicationSer. No. 15/371,921, filed Dec. 7, 2016, now U.S. Pat. No. 10,011,020,issued Jul. 3, 2018; which claims priority to U.S. Provisional PatentApplication No. 62/276,653 filed Jan. 8, 2016, the disclosures all ofwhich are hereby incorporated by reference in their entireties.

BACKGROUND

The invention generally relates to programmable motion systems andrelates in particular to end effectors for programmable motion devices(i.e., robotic systems) for use in object processing such as objectsortation.

End effectors for robotic systems, for example, may be employed incertain applications to select and grasp an object, and then move theacquired object very quickly to a new location. End effectors that aredesigned to very securely grasp an object during movement may havelimitations regarding how quickly and easily they may select and graspan object from a jumble of dissimilar objects. Conversely, end effectorsthat may quickly and easily grasp a selected object from a jumble ofdissimilar objects may have limitations regarding how securely they maygrasp an acquired object during rapid movement, particularly rapidacceleration and deceleration (both angular and linear).

Many end effectors employ vacuum pressure for acquiring and securingobjects for transport or subsequent operations by articulated arms.Other techniques for acquiring and securing objects employ electrostaticattraction, magnetic attraction, needles for penetrating objects such asfabrics, fingers that squeeze an object, hooks that engage and lift aprotruding feature of an object, and collets that expand in an openingof an object, among other techniques. Typically, end effectors aredesigned as a single tool, such as for example, a gripper, a welder, ora paint spray head, and the tool is typically designed for a specificset of needs.

There remains a need therefore, for an end effector in a programmablemotion system that may select and grasp an object, and then move theacquired object very quickly to a new location.

SUMMARY

In accordance with an embodiment, the invention provides an end effectorsystem for a robotic system. The end effector system includes a primaryacquisition system that includes a primary end effector, and a secondaryretention system that substantially surrounds at least a portion of theprimary acquisition system, wherein at least a portion of the primaryacquisition system may be drawn up within at least a portion of thesecondary retention system such that the primary end effector system maybe used to select an object from a plurality of objects, and thesecondary retention system may be used to secure the object for rapidtransport to an output destination.

In accordance with another embodiment, the invention provides an endeffector system for a robotic system. The end effector system includes aprimary acquisition system that includes a primary end effector, and asecondary retention system proximate to the primary gripper system suchthat the primary end effector system may be used to select an objectfrom a plurality of objects, and the secondary retention system may beused to retain the object for rapid transport to an output destination.

In accordance with a further embodiment, the invention provides a methodof engaging and moving an object using a robotic system. The methodincludes the steps of engaging the object with a primary end effector ofa primary acquisition system, moving the object toward a secondaryretention system, retaining the object with the secondary retentionsystem, and transporting the object to an output destination.

BRIEF DESCRIPTION OF THE DRAWINGS

The following description may be further understood with reference tothe accompanying drawings in which:

FIG. 1 shows an illustrative diagrammatic view of a system in accordancewith an embodiment of the present invention;

FIG. 2 shows an illustrative diagrammatic view of an end effectorportion of the system of FIG. 1;

FIGS. 3A-3C show illustrative diagrammatic sectional views of the endeffector portion in accordance with an embodiment including a tubularannulus during acquisition and retention of an object;

FIGS. 4A-4D show illustrative diagrammatic sectional views of the endeffector portion in accordance with another embodiment including ajamming gripper during acquisition and retention of an object;

FIGS. 5A-5C show illustrative diagrammatic sectional views of the endeffector portion in accordance with a further embodiment includingvacuum cups during acquisition and retention of an object;

FIGS. 6A-6D show illustrative diagrammatic sectional views of the endeffector portion in accordance with a further embodiment includinggripping retention actuators during acquisition and retention of anobject;

FIGS. 7A and 7B show illustrative diagrammatic sectional views of theend effector portion in accordance with a further embodiment including aretention shroud during acquisition and retention of an object;

FIGS. 8A and 8B show illustrative diagrammatic sectional views of theend effector portion in accordance with an embodiment including furthergripping retention actuators during acquisition and retention of anobject;

FIGS. 9A and 9B show illustrative diagrammatic sectional views of theend effector portion in accordance with an embodiment including afurther arrangement of vacuum cups during acquisition and retention ofan object;

FIGS. 10A and 10B show illustrative diagrammatic sectional views of theend effector portion in accordance with an embodiment includingretention stabilizing pads during acquisition and retention of anobject;

FIG. 11 shows an illustrative diagrammatic view of a system inaccordance with a further embodiment of the present invention thatincludes a retention tray;

FIG. 12A-12F show illustrative diagrammatic sectional views of the endeffector portion in accordance with an embodiment including a retentiontray during acquisition, retention and release of an object;

FIG. 13 shows an illustrative diagrammatic view of a system inaccordance with a further embodiment of the present invention thatincludes a retention support;

FIGS. 14A and 14B show illustrative diagrammatic sectional views of theend effector portion in accordance with an embodiment including aretention support during acquisition, retention and release of anobject;

FIG. 15 shows an illustrative diagrammatic view of the end effectorsystem of FIG. 13 approaching a jumble of objects;

FIGS. 16A and 16B show illustrative diagrammatic sectional views of theend effector portion in accordance with an embodiment of FIG. 15including a retention support during acquisition and retention of anobject;

FIG. 17 shows an illustrative diagrammatic view of a system inaccordance with a further embodiment of the present invention thatincludes multiple vacuum cups;

FIGS. 18A-18C show illustrative diagrammatic sectional views of the endeffector portion in accordance with an embodiment including multiplevacuum cups during acquisition and retention of an object; and

FIGS. 19A and 19B show illustrative diagrammatic sectional views of theend effector portion in accordance with a further embodiment of thepresent invention employing positive air pressure to create a vacuum atthe end effector.

The drawings are shown for illustrative purposes only.

DETAILED DESCRIPTION

In accordance with various embodiments, the invention provides endeffector systems that include two elements, one element for acquisition,and one element for secure holding during transportation. Theacquisition element may be specialized to address challenges ofacquisition, which may include perception of a desired object,separating the object from supporting or surrounding objects, andshifting the object to a position and orientation suited fortransportation.

The secure holding element may be specialized to address challenges oftransportation, which may include security and stability duringtransport, despite gravitational forces, high speed acceleration,centrifugal forces, and contact with surrounding objects.

Generally and in certain embodiments, the invention provides an endeffector system for a robotic system, e.g., an articulated arm roboticsystem or any of a delta, gantry, spherical, SCARA, or cylindricalrobotic systems. The end effector system includes a primary grippersystem and a secondary retention system that substantially surrounds atleast a portion of the primary gripper system. In certain embodiments,at least a portion of the primary gripper system may be drawn up withinat least a portion of the secondary retention system such that theprimary gripper system may be used to select an object from a pluralityof objects, and the secondary retention system may be used to secure theobject for rapid transport to an output destination.

More generally, and in accordance with a further embodiment, theinvention provides a method of engaging and moving an object using arobotic system. The method includes the steps of engaging the objectwith a primary gripper system, moving the object toward a secondaryretention system, retaining the object with the secondary retentionsystem, and transporting the object to an output destination.

FIG. 1 shows a robotic system 10 in accordance with embodiments of theinvention that includes an articulated arm 12 on a base 14, and an endeffector system 16. As further shown in FIG. 2, the end effector systemmay attach to the articulated arm 12 by way of an engagement feature 18(such as threads, spring-loaded clasp, or ball and socket engagement)that mate with an engagement feature on the articulated arm 12, andfurther, the end effector system may include a primary gripper systemincluding a gripper 22 on the end of an extender 20, as well assecondary retention system 24 as discussed in more detail below. As eachof the acquisition element and the secure holding element may vary, andmany different embodiments are possible. The gripper in each of theembodiments, for example, may be any of a vacuum gripper, anelectrostatic gripper, or a magnetic gripper etc.

FIGS. 3A-3C diagrammatically show sectional views of an end effectorsystem 30 in accordance with an embodiment of the present invention thatincludes a primary gripper system including a gripper 32 on the end ofan extender 34. The end effector system 30 also includes a secondaryretention system including a flexible toroid 36.

The flexible toroid is a fluid-filled or powder filled (and optionallyelastic) flexible membrane that is compressed and inverted as it isdrawn into the center of the supporting structure. Such a device isformed of a continuous sheet of fabric that is in the form of a torus,or an annulus that extends along the direction that extends through thecenter of the annulus.

As shown in FIG. 3A, a portion of the outer surface of the flexibletoroid 36 is attached to the inner surface of the housing 38 as shown at40, and a portion of the inner surface of the elastic toroid is attachedto the extender at 41. The toroid is able to move up and down (byrolling) between the outer collar and the inner extender.

With reference to FIG. 3B, the extender 34 may be moved in the directionas indicated at A such that the vacuum gripper 32 engages an object tobe grasped 42. By supplying a vacuum source through the extender 34, theobject may be engaged. As further shown in FIG. 3B, when the extender 34is moved in the direction as indicated at A, it draws the inner surfaceof the elastic toroid with it, which causes one end of the elastictoroid to roll inward upon itself in direction A, while the opposing endof the elastic toroid will roll outward. While the elastic toroid 36undergoes this process of everting, it remains attached to the housing38 at the attachment 40.

As shown in FIG. 3C, when the engaged object is pulled into the elastictoroid, the object is securely engaged for transport or other processingoperations. By controlling the movement of the elastic toroid asdescribed above, the end effector may be used to draw the object 42 intothe elastic toroid and hold it within the elastic toroid until thelinear actuator is moved in a direction that is opposite the directionindicated at A (and the object 42 is discharged). The elastic toroid isformed of a flexible material that may conform to the shape of theobject 42 being grasped. The fluid (or powder) within the elastic toroidmay be water (or plastic particles) or may be selected to have aparticular viscosity.

As shown in FIGS. 4A-4C (which show diagrammatic sectional views), anend effector system 50 in accordance with another embodiment of thepresent invention includes a primary gripper system including a gripper54 on the end of an extender 52. The end effector system 50 alsoincludes a secondary retention system including a jamming gripper 56having one or more vacuum attachment ports 58. Generally, the jamminggripper encloses a fluid or volume of particles having a very small size(e.g., powder) such that when a vacuum source is provided to the ports58, the jamming gripper 56 reduces its volume and grabs any objectwithin its outer edge. The jamming gripper 56 is also attached to theinterior of the housing 60 as shown at 62.

As shown in FIG. 4B, the extender 52 may be extended, permitting thegripper 54 to engage an object 64, and as shown in FIG. 4C, when theobject is drawn up near or into the jamming gripper 56, the jamminggripper engages at least a portion of the outer surface of the object64. As shown in FIG. 4D, when the vacuum source is applied to thejamming gripper 56, the gripper 56 conforms to the surface of the object64, thereby securing the object 56 for transport or other processingoperations.

In each of the embodiments of FIG. 3A-4D, the secondary retention systemmay have difficulty engaging an object from an input area, but whencombined with the primary gripper system, the end effector systems mayacquire an object and subsequently securely retain the object, even whenthe end effector system undergoes rapid linear and angular accelerationor deceleration.

As shown in FIGS. 5A-5C (which show diagrammatic sectional views), anend effector system 70 in accordance with another embodiment of thepresent invention includes a primary gripper system including a gripper72 on the end of an extender 74. The gripper 72 may be any of a vacuumgripper, an electrostatic gripper, or a magnetic gripper etc. The endeffector system 70 also includes a secondary retention system includinga large area gripper 76 (e.g., a vacuum gripper, an electrostaticgripper, or a magnetic gripper etc.) that surrounds the extender 74. Asshown in FIG. 5B, when the gripper 72 is extended into a clutteredenvironment (including, e.g., objects 80, 82, 84), the gripper 72 mayengage an object 82, and draw the object toward the large area gripper76, which then surrounds the gripper 72. The large area gripper 76 isthen employed during rapid transport or further processing operations.

FIGS. 6A-6D show a diagrammatic sectional view of an end effector system90 in accordance with another embodiment of the present invention, whichincludes a primary gripper system including a gripper 92 on the end ofan extender 94. The gripper 92 may be any of a vacuum gripper, anelectrostatic gripper, or a magnetic gripper etc. The end effectorsystem 90 also includes a secondary retention system including two ormore constricting actuators 96 (e.g., pinch grippers), that may berotated with respect to pivot locations 98 such that a portion of eachactuator 96 may engage a portion of an object to thereby secure theobject.

In particular, as shown in FIG. 6B, the actuator 92 may be extended toengage an object such as a bag 100 that includes loose items 102. Asshown in FIGS. 6C and 6D, the bag 100 may be acquired by the gripper 92,and the constricting actuators 96 may then be rotated to secure the bag100 within the end effector system 90.

FIGS. 7A and 7B show an end effector 110 in accordance with anotherembodiment of the invention that includes a first portion 112 having avacuum cup that may be actuated to engage an object 114, and then maywithdraw the grasped object within a second portion 116 in the form of ashroud. In various embodiments, the first portion 112 may move towardthe object while the shroud 116 remains fixed, or in other embodiments,the first portion may be fixed, and the shroud 116 may be actuated tomove toward the object 114 once grasped.

FIGS. 8A and 8B show an end effector 120 in accordance with a furtherembodiment of the invention that includes a first portion 122 having avacuum cup that may be actuated to engage an object 124, and then maywithdraw the grasped object 124. A second portion 126 that includes twoor more paddles 128 then move radially inward as shown at A to securethe grasped object 124.

FIGS. 9A and 9B show an end effector 130 in accordance with a furtherembodiment of the invention that includes a first portion 132 having avacuum cup that may be actuated to engage an object 134. The object 134is then withdrawn toward a second portion 136 that includes one or moreadditional vacuum cups 138 (three are shown) to secure the object 134during transport. In accordance with further embodiments, the firstportion 132 may be fixed with respect to an articulated arm, and thesecond portion 136 may be lowered onto the object 134.

FIGS. 10A and 10B show an end effector 140 in accordance with a furtherembodiment of the invention that includes a first portion 142 having avacuum cup that may be actuated to engage an object 144. The object 144is then withdrawn toward a second portion 146 that includes one or morecompliant pads 148 to secure the object 144 during transport. Inaccordance with further embodiments, the first portion 142 may be fixedwith respect to an articulated arm, and the second portion 146 may belowered onto the object 144.

FIG. 11 shows a robotic system 210 in accordance with furtherembodiments of the invention that includes an articulated arm 212 on abase 214, and an end effector system 216. The end effector system mayinclude a primary gripper system including a gripper 222 on the end ofan extender 220, as well as secondary retention system 224 as discussedin more detail below with reference to FIGS. 12A-12F. As each of theacquisition element and the transportation element may vary, manydifferent embodiments are possible. The gripper in each of theembodiments, for example, may be any of a vacuum gripper, anelectrostatic gripper, or a magnetic gripper etc.

FIGS. 12A-12F diagrammatically show views of the end effector system 216in accordance with an embodiment of the present invention that includesa primary gripper system including the gripper 222 on the end of theextender 220. The secondary retention system 224 includes a suspendedcup 226 that may be mounted on an actuated member 228 such that thesuspension point of the cup 226 may be moved relative to the base of theend effector system 216.

As shown in FIGS. 12A and 12B, the gripper 222 may engage and acquire anobject 230, and bring the object 230 toward the suspended cup 226. Asshown in FIGS. 12C and 12D, the end effector 216 may then be rotated,causing the suspended cup to move below the object 230. As shown in FIG.12E, the object 230 may then be dropped into the suspended cup 226. Therobotic system may, in certain applications, acquire and place many suchobjects into a cup prior to transport. Following transport to an outputdestination, in certain embodiments, the cup 226 may include areleasable bottom 232 that may be actuated to drop the one or moreobjects into the output destination.

FIG. 13 shows a system 250 that includes an articulated arm 252 on abase 254 as well as an end effector portion 256. The end effectorportion 256 includes a primary acquisition portion 258 and a secondaryretention system 260. As further shown in FIGS. 14A and 14B, the primaryacquisition system includes a vacuum cup on an actuator shaft 264 thatpasses through an actuatable magnetic coil within arm 266. The secondaryretention system 260 includes a tray for supporting the object 262 oncegrasped as shown in FIG. 14B. As shown in FIG. 15, such an end effectorportion 256 may also be employed to selectively pull one object (e.g.,270) from a mix of objects 272. As shown in FIGS. 16A and 16B, theprimary acquisition system 258 may acquire the object 270, and thesecondary retention system may then support the retained object 270.

In accordance with further embodiments, and as shown in FIG. 17, asystem 300 of the invention may provide an end effector system thatincludes a primary acquisition system 302 and a secondary retentionsystem 304, each of which includes a vacuum cup and a pivot joint. Whenthe primary acquisition system 302 engages an object 306 (as shown inFIG. 18A), the end effector then rotates (as shown in FIG. 18B) suchthat the secondary retention system 304 also grasp the object 306 sothat it may then be lifted and moved (as shown in FIG. 18C).

Again, the gripper attached to the programmable motion extender in eachof the embodiments may be any of a vacuum gripper, an electrostaticgripper, or a magnetic gripper etc. In other embodiments, both theprimary gripper system and the secondary retention system may involve awide variety of acquisition and retention systems. For example, inaccordance with further embodiments, any of the above disclosed systemsmay be provided with a vacuum source at the end effector wherein thevacuum is provided by a Venturi opening at the end effector. FIGS. 19Aand 19B show an example of a primary retention system 310 (that may beused with any of the above discussed embodiments), and includes aconduit 314 for selectively providing air at positive pressure to an endeffector 318. The conduit (which is provided within a second retentionsystem 312 as discussed above), includes an area of restricted diameter316 as well as a Venturi opening 320. When positive air pressure isprovided (as shown in FIG. 19B), the air blows out the end of theconduit and produces a vacuum source at the opening 320, therebypermitting the end effector 318 to acquire an object 322. Again, such apositive air pressure and Venturi system for providing the vacuum, maybe used with each of the above embodiments.

Those skilled in the art will appreciate that numerous modifications andvariations may be made to the above disclosed embodiments withoutdeparting from the spirit and scope of the present invention.

What is claimed is:
 1. A method of engaging and moving an object using a programmable motion system, said method comprising: extending an acquisition portion of an end effector of an articulated arm away from a retention portion of the end effector; engaging the object with a gripper at one end of the acquisition portion of the end effector; moving the object toward the retention portion of the end effector by retracting the acquisition portion of the end effector toward the retention portion of the end effector, the retention portion of the end effector including a plurality of retention arms pivotally coupled thereto; retaining the object by pivoting the plurality of retention arms radially inward to compressingly engage the object such that the shape of the object changes, wherein the retention portion of the end effector is mechanically independent of the acquisition portion of the end effector such that movement of the plurality of retention arms is not dependent on the extending and retracting of the acquisition portion; transporting the object to a destination location; and releasing the object by dropping the object at the destination location.
 2. The method as claimed in claim 1, wherein the retention arms move non-uniform distances to retain the object.
 3. The method as claimed in claim 1, wherein releasing the object by dropping the object includes releasing the object from, at least, the retention portion of the end effector.
 4. The method as claimed in claim 1, wherein the acquisition portion of the end effector includes a vacuum cup at one end of an extender.
 5. The method as claimed in claim 1, wherein the vacuum cup is in communication with a vacuum source through a conduit defined within the extender.
 6. The method as claimed in claim 5, wherein the vacuum source provides a vacuum at a Venturi opening at or near the vacuum cup.
 7. The method as claimed in claim 5, wherein releasing the object includes providing positive air pressure through the conduit of the extender.
 8. The method as claimed in claim 4, wherein moving the object toward the retention portion of the end effector includes retracting the extender of the acquisition portion through the retention portion.
 9. The method as claimed in claim 1, wherein the object is non-rigid.
 10. The method as claimed in claim 1, wherein the object is at least partially pinched by the retention arms when the object is retained by the retention arms.
 11. The method as claimed in claim 1, wherein the object is at least partially supported by the retention arms when the object is retained by the retention arms.
 12. The method as claimed in claim 1, wherein at least a portion of the object hangs below the retention arms when the object is retained by the retention arms.
 13. A method of engaging and moving an object using a programmable motion system, said method comprising: extending a retractable shaft of an acquisition portion of an end effector away from a retention portion of the end effector, the retractable shaft having a gripper at a distal end thereof; grasping the object using the gripper of the extended acquisition portion; moving the object toward the retention portion of the end effector by retracting the shaft of the acquisition portion toward the retention portion of the end effector, the retention portion of the end effector including at least three retention arms spaced around the acquisition portion of the end effector; retaining the object by rotating the at least three retention arms radially inward into the object and beyond a position at which the at least three retention arms initially contact the object, wherein the at least three retention arms of the retention portion are mechanically independent of the shaft of the acquisition portion-such that movement of the at least three retention arms is not dependent on the retracting and extending of the retractable shaft of the acquisition portion; transporting the object to a destination location; and releasing the object by dropping the object at the destination location.
 14. The method as claimed in claim 13, wherein the at least three retention arms move non-uniform distances to retain the object.
 15. The method as claimed in claim 13, wherein releasing the object by dropping the object includes releasing the object from the at least three retention arms of the end effector.
 16. The method as claimed in claim 13, wherein the gripper of the acquisition portion of the end effector is a vacuum cup.
 17. The method as claimed in claim 16, wherein the vacuum cup is in communication with a vacuum source through a conduit defined within the retractable shaft of the acquisition portion of the end effector.
 18. The method as claimed in claim 17, wherein the vacuum source provides a vacuum at a Venturi opening at or near the vacuum cup.
 19. The method as claimed in claim 17, wherein releasing the object includes providing positive air pressure through the conduit of the retractable shaft of the acquisition portion of the end effector.
 20. The method as claimed in claim 13, wherein the object is non-rigid.
 21. The method as claimed in claim 13, wherein retaining the object includes pivoting the at least three retention arms into the object such that a shape of the object changes.
 22. The method as claimed in claim 13, wherein the object is at least partially pinched by the at least three retention arms when the object is retained by the at least three retention arms.
 23. The method as claimed in claim 13, wherein the object is at least partially supported by the at least three retention arms when the object is retained by the at least three retention arms.
 24. The method as claimed in claim 13, wherein at least a portion of the object hangs below the at least three retention arms when the object is retained by the at least three retention arms.
 25. A method of engaging and moving an object using a programmable motion system, said method comprising: extending a retractable shaft of an acquisition portion of an end effector away from a base of a retention portion of the end effector, the retractable shaft having a vacuum cup at a distal end thereof; engaging the object using a vacuum provided through a conduit defined within the retractable shaft and the vacuum cup of the end effector, said object being presented at an input station among a plurality of objects; moving the object toward the base of the retention portion of the end effector by retracting the shaft of the acquisition portion toward the base of the retention portion, the retention portion of the end effector further including at least three retention arms pivotally coupled to the base of the retention portion; retaining the object by pivoting the at least three retention arms radially inward in mutually non-opposing directions, wherein the retention portion is mechanically independent of the acquisition portion such that movement of the at least three retention arms is not dependent on the retracting and extending of the retractable shaft of the acquisition portion; transporting the object to a destination location; and releasing the object by dropping the object at the destination location.
 26. The method as claimed in claim 25, wherein the retention arms move non-uniform distances to retain the object.
 27. The method as claimed in claim 25, wherein releasing the object by dropping the object includes releasing the object from the at least three retention arms of the end effector.
 28. The method as claimed in claim 25, wherein the vacuum cup of the end effector is in communication with a vacuum source through the conduit of the retractable shaft.
 29. The method as claimed in claim 28, wherein the vacuum source provides a vacuum at a Venturi opening at or near the vacuum cup of the end effector.
 30. The method as claimed in claim 28, wherein releasing the object includes providing positive air pressure through the conduit of the retractable shaft.
 31. The method as claimed in claim 25, wherein the object is non-rigid.
 32. The method as claimed in claim 25, wherein retaining the object includes pivoting the at least three retention arms into the object such that a shape of the object changes.
 33. The method as claimed in claim 25, wherein the object is at least partially pinched by the at least three retention arms when the object is retained by the at least three retention arms.
 34. The method as claimed in claim 25, wherein the object is at least partially supported by the at least three retention arms when the object is retained by the at least three retention arms.
 35. The method as claimed in claim 25, wherein at least a portion of the object hangs below the at least three retention arms when the object is retained by the at least three retention arms.
 36. The method as claimed in claim 25, wherein the plurality of objects are heterogenous objects.
 37. The method as claimed in claim 25, wherein the object is at least partially obscured by other objects of the plurality of objects.
 38. An end effector for use in a programmable motion system, said end effector comprising: an acquisition portion that includes a retractable shaft and a vacuum cup at a distal end thereof; and a retention portion that includes three retention arms equally spaced apart and pivotally coupled to a base, wherein the shaft of the acquisition portion is extended in a first direction away from the base of the retention portion to grasp an object using a vacuum provided through the vacuum cup and retracted in a second direction that is generally opposite the first direction toward the base of the retention portion to retain the object using the at least three retention arms; and wherein the three retention arms retain the object by pivoting radially inward a respective amount in mutually non-opposing directions for conforming to a size and shape of the object being retained, wherein the retention portion is mechanically independent of the acquisition portion such that movement of the three retention arms is not dependent on the retractable shaft of the acquisition portion being extended or retracted, and wherein the vacuum is provided by a vacuum source in communication with the vacuum cup through a conduit defined in the retractable shaft of the acquisition portion.
 39. The end effector as claimed in claim 38, wherein the vacuum source provides a vacuum at a Venturi opening at or near the vacuum cup of the end effector.
 40. The end effector as claimed in claim 38, wherein the vacuum cup includes a bellows.
 41. The end effector as claimed in claim 38, wherein the three retention arms include three actuatable paddles. 